[PDF] Top 20 Workspace and Assembly modes in Fully-Parallel Manipulators : A Descriptive Study

... figurations in the workspace, the trajectory planning will not have to be equally ...treated. In the case of two configurations lying in a same uniqueness domain, any continuous ... Voir le document complet

... epicyclic parallel manipulator, Monash Epicyclic-Parallel Manipulator (MEPaM), is presented in [16] with all actuators mounted on the base, parallel singularity is independent on the position ... Voir le document complet

... Kinematics, Fully Parallel Manip- ulator, Aspects, Working modes, ...Introduction A well known feature of parallel manipulators is the existence of multiple solutions to the ... Voir le document complet

... multi-mode parallel robots can change operation modes by passing through constraint ...with a comprehensive kinematic study of a 3-DOF multi-mode 3-PRPiR parallel robot developed ... Voir le document complet

... 3-RPS parallel manipulator using evolutionary algorithms, Transactions of the Canadian Society for Mechanical Engineering, ...Operation Modes in Lower- Mobility Parallel Manipulators, ... Voir le document complet

... base and mobile plat- forms ...the workspace of 3-RPR parallel manipulator is divided into two singularity-free regions called aspect and that there should be 3 solutions in each ... Voir le document complet

... the parallel robots with several inverse and direct kinematic solutions, the aspects are defined as the maximal singularity-free sets in the workspace or the cross-product of the joint space ... Voir le document complet

... chapters and the main objectives are as follows: ...is a special case of Study’s kinematic mapping for planar Euclidean ...operation modes. In algebraic geometry terms, this is done by primary ... Voir le document complet

... Most parallel manipulators have singularities that limit the motion of the moving ...two assembly-modes coalesce. Indeed, approaching such a singularity results in large actuator ... Voir le document complet

... 3-RPR parallel manipulators was shown to degenerate in situations that had not been investigated in the ...equations in x and y that needs be established prior to the derivation ... Voir le document complet

... the workspace of fully-parallel manipulators is the existence of ...appear in the kinematic relations between the joint-rate and the Cartesian-velocity vectors, which are called ... Voir le document complet

... gions in the Cartesian workspace of fully-parallel manipulators, ...The manipulators considered in this study may have multiple direct and inverse kinematic ... Voir le document complet

... variations in geometric parameters. Two indices are proposed in [6] to evaluate the sensitivity of the end-effector pose (position + orientation) of the Orthoglide 3-axis, a three Degree-of-Freedom ... Voir le document complet

... of parallel manipulators for which the limitations of input torques can be satisfied and the limitation of reactions in passive joints not at ...have a better understanding of this ... Voir le document complet

... works in parallel mechanisms introduced by Gough [1] or Steward [2], Clavel [3] proposed the Delta structure, a parallel robot dedicated to high-speed ...applications. In the same way, ... Voir le document complet

... M and J ) is singular when x any of the two matrices N or 1 N is singular (rank 2 ...(IV) and (V), are not coplanar, which is guaranteed within the geometrically accessible space excluding its ...only ... Voir le document complet

... errors In this section, we compute an upper bound on the dis- tance between a nominal pose and its perturbed ...pose. In the first subsection, we introduce an uniqueness condition that allows ... Voir le document complet

... equilibrium and the Wrench Clo- sure Workspace (WCW) of the moving platform, ...platform, a pose belongs to the WCW if and only if any wrench can be applied by means of non-negative cable ... Voir le document complet

... indices in literature that might be used to evaluate the robot’s performance [9-11] and each has its own problems which is not our concern ...However, in our case, we are interested in ... Voir le document complet

... basic and well known tools from computer algebra such as Gröbner bases [11] and a full package compu- ting such objects in a general framework is available in Maple software ... Voir le document complet